论文标题
非线性MPC，用于跟踪一类非凸的可允许输出集
Nonlinear MPC for Tracking for a Class of Non-Convex Admissible Output Sets
论文作者
论文摘要
本文为跟踪方案的非线性模型预测控制提供了一个扩展，即使在非凸出输出的情况下，也能保证收敛。这是通过在优化问题中纳入同构的同态形态来实现的，从而可以在凸空间中解决。还定义了一类新型的非凸组集，为此提供了构建凸的同构的系统过程。然后将这种同态形态嵌入模型预测控制优化问题中，以使同态形态不再需要以封闭形式需要。最后，通过说明性示例展示了所提出的方法的有效性。
This paper presents an extension to the nonlinear Model Predictive Control for Tracking scheme able to guarantee convergence even in cases of non-convex output admissible sets. This is achieved by incorporating a convexifying homeomorphism in the optimization problem, allowing it to be solved in the convex space. A novel class of non-convex sets is also defined for which a systematic procedure to construct a convexifying homeomorphism is provided. This homeomorphism is then embedded in the Model Predictive Control optimization problem in such a way that the homeomorphism is no longer required in closed form. Finally, the effectiveness of the proposed method is showcased through an illustrative example.
